Hybrid master-slave mapping method, robotic arm system, and computer device

A robotic arm system, wherein the robotic arm system comprises a computer device and a robotic arm comprising a passive arm and a multi-degree-of-freedom parallel platform equipped on an end of the passive arm, and the computer device is electrically connected to the passive arm and the multi-degree-of-freedom parallel platform, respectively, comprises a processor and a storage medium in which a computer program is stored, the computer program being disposed to execute a hybrid master-slave mapping method when run,

• wherein the hybrid master-slave mapping method comprises:
• acquiring a current position and a target position of an end point of a robotic arm;
• decomposing a displacement from the current position to the target position into a vertical direction and a horizontal plane, respectively, to obtain a vertical displacement position and a horizontal displacement position;
• determining a first control amount of the multi-degree-of-freedom parallel platform according to the vertical displacement position, and determining a second control amount of the passive arm according to the horizontal displacement position;
• and
• controlling the multi-degree-of-freedom parallel platform according to the first control amount, and controlling the passive arm according to the second control amount.

A computer device, wherein the computer device comprises a processor and a storage medium in which a computer program is stored, the computer program being disposed to execute a hybrid master-slave mapping method when run,

• wherein the hybrid master-slave mapping method comprises:
• acquiring a current position and a target position of an end point of a robotic arm, wherein the robotic arm comprises a passive arm and a multi-degree-of-freedom parallel platform equipped on an end of the passive arm;
• decomposing a displacement from the current position to the target position into a vertical direction and a horizontal plane, respectively, to obtain a vertical displacement position and a horizontal displacement position;
• determining a first control amount of the multi-degree-of-freedom parallel platform according to the vertical displacement position, and determining a second control amount of the passive arm according to the horizontal displacement position;
• and
• controlling the multi-degree-of-freedom parallel platform according to the first control amount, and controlling the passive arm according to the second control amount.